src/main/io/display.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <stdarg.h>
  21 #include <string.h>
  22
  23 #include "platform.h"
  24 #include "version.h"
  25
  26 #include "build_config.h"
  27
  28 #include "drivers/serial.h"
  29 #include "drivers/system.h"
  30 #include "drivers/display_ug2864hsweg01.h"
  31 #include "drivers/sensor.h"
  32 #include "drivers/accgyro.h"
  33 #include "drivers/compass.h"
  34
  35 #include "common/printf.h"
  36 #include "common/maths.h"
  37 #include "common/axis.h"
  38 #include "common/typeconversion.h"
  39
  40 #ifdef DISPLAY
  41
  42 #include "sensors/battery.h"
  43 #include "sensors/sensors.h"
  44 #include "sensors/compass.h"
  45 #include "sensors/acceleration.h"
  46 #include "sensors/gyro.h"
  47 #include "sensors/barometer.h"
  48
  49 #include "rx/rx.h"
  50
  51 #include "io/rc_controls.h"
  52
  53 #include "flight/pid.h"
  54 #include "flight/imu.h"
  55 #include "flight/failsafe.h"
  56
  57 #ifdef GPS
  58 #include "io/gps.h"
  59 #include "flight/navigation_rewrite.h"
  60 #endif
  61
  62 #include "config/runtime_config.h"
  63
  64 #include "config/config.h"
  65
  66 #include "display.h"
  67
  68 controlRateConfig_t *getControlRateConfig(uint8_t profileIndex);
  69
  70 #define MICROSECONDS_IN_A_SECOND (1000 * 1000)
  71
  72 #define DISPLAY_UPDATE_FREQUENCY (MICROSECONDS_IN_A_SECOND / 5)
  73 #define PAGE_CYCLE_FREQUENCY (MICROSECONDS_IN_A_SECOND * 5)
  74
  75 static uint32_t nextDisplayUpdateAt = 0;
  76 static bool displayPresent = false;
  77
  78 static rxConfig_t *rxConfig;
  79
  80 #define PAGE_TITLE_LINE_COUNT 1
  81
  82 static char lineBuffer[SCREEN_CHARACTER_COLUMN_COUNT + 1];
  83
  84 #define HALF_SCREEN_CHARACTER_COLUMN_COUNT (SCREEN_CHARACTER_COLUMN_COUNT / 2)
  85 #define IS_SCREEN_CHARACTER_COLUMN_COUNT_ODD (SCREEN_CHARACTER_COLUMN_COUNT & 1)
  86
  87 #if defined(DISPLAY_ARMED_BITMAP)
  88 static uint8_t armedBitmapRLE [] = { 128, 32,
  89     '\x00','\x00','\x87','\xc0','\xe0','\xf8','\xfc','\xfc', // 0x0008
  90     '\x02','\x7e','\x3e','\x1f','\x0f','\x0f','\x06','\xcf', // 0x0010
  91     '\xff','\xff','\x04','\x7f','\x1f','\x8e','\xe0','\xf0', // 0x0018
  92     '\xfc','\xfe','\x7f','\x3f','\x0f','\x0f','\x06','\x8f', // 0x0020
  93     '\xcf','\xff','\xff','\x04','\x7f','\x1f','\x8e','\xe0', // 0x0028
  94     '\xf0','\xfc','\xfe','\x7f','\x3f','\x0f','\x0f','\x06', // 0x0030
  95     '\xcf','\xef','\xff','\xff','\x03','\x7f','\x1f','\x0f', // 0x0038
  96     '\x0f','\x06','\xcf','\xff','\xff','\x04','\x7f','\x1f', // 0x0040
  97     '\x8e','\xe0','\xf0','\xfc','\xfe','\xff','\xbf','\x8f', // 0x0048
  98     '\x8f','\x05','\x0f','\x0f','\x08','\x07','\x07','\x02', // 0x0050
  99     '\x83','\xe3','\xf1','\xfd','\xfe','\x7f','\x3f','\x0f', // 0x0058
 100     '\x0f','\x07','\xcf','\xff','\xff','\x04','\x7f','\x1f', // 0x0060
 101     '\x0e','\x00','\x00','\x03','\x80','\xc0','\xf0','\xf8', // 0x0068
 102     '\xfe','\x7f','\x3f','\x1f','\x0f','\x0f','\x06','\x8f', // 0x0070
 103     '\xef','\xff','\xff','\x03','\x7f','\x3f','\x8f','\xc7', // 0x0078
 104     '\xf3','\xf8','\xfe','\xff','\x3f','\x1f','\x0f','\x0f', // 0x0080
 105     '\x06','\x8f','\xcf','\xff','\xff','\x04','\x3f','\x9f', // 0x0088
 106     '\xc3','\xf1','\xf8','\xfc','\xff','\x3f','\x1f','\x07', // 0x0090
 107     '\x03','\x00','\x00','\x03','\x80','\xc0','\xf0','\xf8', // 0x0098
 108     '\xfe','\xff','\x3f','\x1f','\x07','\x03','\x00','\x00', // 0x00a0
 109     '\x03','\x80','\xc0','\xf0','\xf8','\xfe','\xff','\x3f', // 0x00a8
 110     '\x9f','\xc7','\xf3','\xf8','\xfc','\xff','\xff','\x03', // 0x00b0
 111     '\xf7','\xf3','\xf3','\x04','\xf1','\xf1','\x03','\xf0', // 0x00b8
 112     '\xf0','\x09','\xf8','\xfe','\xff','\xff','\x03','\xf7', // 0x00c0
 113     '\xf3','\xf0','\xf0','\x06','\xf8','\x7c','\x7e','\x3f', // 0x00c8
 114     '\x3f','\x02','\x1f','\x07','\x03','\x00','\x00','\x86', // 0x00d0
 115 };
 116 #endif
 117
 118 static const char* const pageTitles[] = {
 119     FC_NAME,
 120     "ARMED",
 121     "STATUS"
 122 };
 123
 124 static const char* const gpsFixTypeText[] = {
 125     "NO",
 126     "2D",
 127     "3D"
 128 };
 129
 130 static const char* tickerCharacters = "|/-\\"; // use 2/4/8 characters so that the divide is optimal.
 131 #define TICKER_CHARACTER_COUNT (sizeof(tickerCharacters) / sizeof(char))
 132
 133 static uint32_t nextPageAt;
 134 static bool forcePageChange;
 135 static pageId_e currentPageId;
 136
 137 void resetDisplay(void) {
 138     displayPresent = ug2864hsweg01InitI2C();
 139 }
 140
 141 void LCDprint(uint8_t i) {
 142    i2c_OLED_send_char(i);
 143 }
 144
 145 void padLineBufferToChar(uint8_t toChar)
 146 {
 147     uint8_t length = strlen(lineBuffer);
 148     while (length < toChar - 1) {
 149         lineBuffer[length++] = ' ';
 150     }
 151     lineBuffer[length] = 0;
 152 }
 153
 154 void padLineBuffer(void)
 155 {
 156     padLineBufferToChar(sizeof(lineBuffer));
 157 }
 158
 159 void padHalfLineBuffer(void)
 160 {
 161     uint8_t halfLineIndex = sizeof(lineBuffer) / 2;
 162     padLineBufferToChar(halfLineIndex);
 163 }
 164
 165 // LCDbar(n,v) : draw a bar graph - n number of chars for width, v value in % to display
 166 void drawHorizonalPercentageBar(uint8_t width,uint8_t percent) {
 167     uint8_t i, j;
 168
 169     if (percent > 100)
 170         percent = 100;
 171
 172     j = (width * percent) / 100;
 173
 174     for (i = 0; i < j; i++)
 175         LCDprint(159); // full
 176
 177     if (j < width)
 178         LCDprint(154 + (percent * width * 5 / 100 - 5 * j)); // partial fill
 179
 180     for (i = j + 1; i < width; i++)
 181         LCDprint(154); // empty
 182 }
 183
 184 void updateTicker(void)
 185 {
 186     static uint8_t tickerIndex = 0;
 187     i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 1, 0);
 188     i2c_OLED_send_char(tickerCharacters[tickerIndex]);
 189     tickerIndex++;
 190     tickerIndex = tickerIndex % TICKER_CHARACTER_COUNT;
 191 }
 192
 193 void updateRxStatus(void)
 194 {
 195     i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 2, 0);
 196     char rxStatus = '!';
 197     if (rxIsReceivingSignal()) {
 198         rxStatus = 'r';
 199     } if (rxAreFlightChannelsValid()) {
 200         rxStatus = 'R';
 201     }
 202     i2c_OLED_send_char(rxStatus);
 203 }
 204
 205 void updateFailsafeStatus(void)
 206 {
 207     char failsafeIndicator = '?';
 208     switch (failsafePhase()) {
 209         case FAILSAFE_IDLE:
 210             failsafeIndicator = '-';
 211             break;
 212         case FAILSAFE_RX_LOSS_DETECTED:
 213             failsafeIndicator = 'R';
 214             break;
 215 #if defined(NAV)
 216         case FAILSAFE_RETURN_TO_HOME:
 217             failsafeIndicator = 'H';
 218             break;
 219 #endif
 220         case FAILSAFE_LANDING:
 221             failsafeIndicator = 'l';
 222             break;
 223         case FAILSAFE_LANDED:
 224             failsafeIndicator = 'L';
 225             break;
 226         case FAILSAFE_RX_LOSS_MONITORING:
 227             failsafeIndicator = 'M';
 228             break;
 229         case FAILSAFE_RX_LOSS_RECOVERED:
 230             failsafeIndicator = 'r';
 231             break;
 232     }
 233     i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 3, 0);
 234     i2c_OLED_send_char(failsafeIndicator);
 235 }
 236
 237 void showTitle(void)
 238 {
 239 #if defined(DISPLAY_ARMED_BITMAP)
 240     if (currentPageId != PAGE_ARMED) {
 241         i2c_OLED_set_line(0);
 242         i2c_OLED_send_string(pageTitles[currentPageId]);
 243     }
 244 #else
 245     i2c_OLED_set_line(0);
 246     i2c_OLED_send_string(pageTitles[currentPageId]);
 247 #endif
 248 }
 249
 250 void showWelcomePage(void)
 251 {
 252     uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
 253
 254     tfp_sprintf(lineBuffer, "v%s (%s)", FC_VERSION_STRING, shortGitRevision);
 255     i2c_OLED_set_line(rowIndex++);
 256     i2c_OLED_send_string(lineBuffer);
 257
 258     i2c_OLED_set_line(rowIndex++);
 259     i2c_OLED_send_string(targetName);
 260 }
 261
 262 #if defined(DISPLAY_ARMED_BITMAP)
 263 // RLE compressed bitmaps must be 128 width with vertical data orientation, and size included in file.
 264 void bitmapDecompressAndShow(uint8_t *bitmap)
 265 {
 266     uint8_t data = 0, count = 0;
 267     uint16_t i;
 268     uint8_t width = *bitmap;
 269     bitmap++;
 270     uint8_t height = *bitmap;
 271     bitmap++;
 272     uint16_t bitmapSize = (width * height) / 8;
 273     for (i = 0; i < bitmapSize; i++) {
 274         if(count == 0) {
 275             data = *bitmap;
 276             bitmap++;
 277             if(data == *bitmap) {
 278                 bitmap++;
 279                 count = *bitmap;
 280                 bitmap++;
 281             }
 282             else {
 283                 count = 1;
 284             }
 285         }
 286         count--;
 287         i2c_OLED_send_byte(data);
 288     }
 289 }
 290
 291 void showArmedPage(void)
 292 {
 293     i2c_OLED_set_line(2);
 294     bitmapDecompressAndShow(armedBitmapRLE);
 295 }
 296 #else
 297 void showArmedPage(void)
 298 {
 299 }
 300 #endif
 301
 302 void showStatusPage(void)
 303 {
 304     uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
 305
 306     if (feature(FEATURE_VBAT)) {
 307         i2c_OLED_set_line(rowIndex++);
 308         tfp_sprintf(lineBuffer, "V: %d.%1d ", vbat / 10, vbat % 10);
 309         padLineBufferToChar(12);
 310         i2c_OLED_send_string(lineBuffer);
 311
 312         uint8_t batteryPercentage = calculateBatteryPercentage();
 313         drawHorizonalPercentageBar(10, batteryPercentage);
 314     }
 315
 316     if (feature(FEATURE_CURRENT_METER)) {
 317         i2c_OLED_set_line(rowIndex++);
 318         tfp_sprintf(lineBuffer, "mAh: %d", mAhDrawn);
 319         padLineBufferToChar(12);
 320         i2c_OLED_send_string(lineBuffer);
 321
 322         uint8_t capacityPercentage = calculateBatteryCapacityRemainingPercentage();
 323         drawHorizonalPercentageBar(10, capacityPercentage);
 324     }
 325
 326     rowIndex++;
 327
 328 #ifdef GPS
 329     if (feature(FEATURE_GPS)) {
 330         tfp_sprintf(lineBuffer, "Sats: %d", gpsSol.numSat);
 331         padHalfLineBuffer();
 332         i2c_OLED_set_line(rowIndex);
 333         i2c_OLED_send_string(lineBuffer);
 334
 335         tfp_sprintf(lineBuffer, "Fix: %s", gpsFixTypeText[gpsSol.fixType]);
 336         padHalfLineBuffer();
 337         i2c_OLED_set_xy(HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
 338         i2c_OLED_send_string(lineBuffer);
 339
 340         tfp_sprintf(lineBuffer, "HDOP: %d.%1d", gpsSol.hdop / 100, gpsSol.hdop % 100);
 341         padLineBuffer();
 342         i2c_OLED_set_line(rowIndex++);
 343         i2c_OLED_send_string(lineBuffer);
 344
 345         tfp_sprintf(lineBuffer, "La/Lo: %d/%d", gpsSol.llh.lat / GPS_DEGREES_DIVIDER, gpsSol.llh.lon / GPS_DEGREES_DIVIDER);
 346         padLineBuffer();
 347         i2c_OLED_set_line(rowIndex++);
 348         i2c_OLED_send_string(lineBuffer);
 349
 350     }
 351 #endif
 352
 353 #ifdef MAG
 354     if (sensors(SENSOR_MAG)) {
 355         tfp_sprintf(lineBuffer, "HDG: %d", DECIDEGREES_TO_DEGREES(attitude.values.yaw));
 356         padHalfLineBuffer();
 357         i2c_OLED_set_line(rowIndex);
 358         i2c_OLED_send_string(lineBuffer);
 359     }
 360 #endif
 361
 362 #ifdef BARO
 363     if (sensors(SENSOR_BARO)) {
 364         int32_t alt = baroCalculateAltitude();
 365         tfp_sprintf(lineBuffer, "Alt: %d", alt / 100);
 366         padHalfLineBuffer();
 367         i2c_OLED_set_xy(HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex);
 368         i2c_OLED_send_string(lineBuffer);
 369     }
 370 #endif
 371
 372 }
 373
 374 void updateDisplay(void)
 375 {
 376     uint32_t now = micros();
 377     static uint8_t previousArmedState = 0;
 378
 379     bool pageChanging = false;
 380     bool updateNow = (int32_t)(now - nextDisplayUpdateAt) >= 0L;
 381
 382     if (!updateNow) {
 383         return;
 384     }
 385
 386     nextDisplayUpdateAt = now + DISPLAY_UPDATE_FREQUENCY;
 387
 388     bool armedState = ARMING_FLAG(ARMED) ? true : false;
 389     bool armedStateChanged = armedState != previousArmedState;
 390     previousArmedState = armedState;
 391
 392     if (armedState) {
 393         if (!armedStateChanged) {
 394             return;
 395         }
 396         currentPageId = PAGE_ARMED;
 397         pageChanging = true;
 398     } else {
 399         if (armedStateChanged) {
 400             currentPageId = PAGE_STATUS;
 401             pageChanging = true;
 402         }
 403
 404         if ((currentPageId == PAGE_WELCOME) && ((int32_t)(now - nextPageAt) >= 0L)) {
 405             currentPageId = PAGE_STATUS;
 406             pageChanging = true;
 407         }
 408
 409         if (forcePageChange) {
 410             pageChanging = true;
 411             forcePageChange = false;
 412         }
 413     }
 414
 415     if (pageChanging) {
 416         // Some OLED displays do not respond on the first initialisation so refresh the display
 417         // when the page changes in the hopes the hardware responds.  This also allows the
 418         // user to power off/on the display or connect it while powered.
 419         if (!displayPresent) {
 420             resetDisplay();
 421         }
 422
 423         if (!displayPresent) {
 424             return;
 425         }
 426
 427         i2c_OLED_clear_display_quick();
 428         showTitle();
 429     }
 430
 431     if (!displayPresent) {
 432         return;
 433     }
 434
 435     switch(currentPageId) {
 436         case PAGE_WELCOME:
 437             showWelcomePage();
 438             break;
 439         case PAGE_ARMED:
 440             showArmedPage();
 441             break;
 442         case PAGE_STATUS:
 443             showStatusPage();
 444             break;
 445     }
 446
 447     if (!armedState) {
 448         updateFailsafeStatus();
 449         updateRxStatus();
 450         updateTicker();
 451     }
 452 }
 453
 454 void displaySetPage(pageId_e newPageId)
 455 {
 456     currentPageId = newPageId;
 457     forcePageChange = true;
 458 }
 459
 460 void displayInit(rxConfig_t *rxConfigToUse)
 461 {
 462     delay(200);
 463     resetDisplay();
 464     delay(200);
 465
 466     rxConfig = rxConfigToUse;
 467
 468     displaySetPage(PAGE_WELCOME);
 469     displaySetNextPageChangeAt(micros() + (1000 * 1000 * 5));
 470
 471     updateDisplay();
 472 }
 473
 474 void displaySetNextPageChangeAt(uint32_t futureMicros)
 475 {
 476     nextPageAt = futureMicros;
 477 }
 478 #endif